CN109781000B - Large-size space dynamic measurement system and method based on unequal-width dynamic stripe space coding - Google Patents
Large-size space dynamic measurement system and method based on unequal-width dynamic stripe space coding Download PDFInfo
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Abstract
The invention relates to a large-size space dynamic measurement system and a method based on unequal-width dynamic stripe space coding, wherein the method codes a space through unequal-width moving stripes and realizes large-size space dynamic measurement based on projection light information of a projector or a space light generator; and performing non-equal-width linear stripe circular rolling projection on the measurement space by using a plurality of projectors or space light generators, ensuring that the photoelectric sensor receives a time sequence projection code and can accurately decode the time sequence projection code to obtain an equivalent ray equation of the photoelectric sensor in each projector image coordinate system, and resolving the space coordinate of the photoelectric sensor by using least square. The system consists of a plurality of projectors, a control system of the projectors, a photoelectric sensor and a coordinate algorithm carrier, is low in cost, simple and easy to implement in the working process of the system, can realize parallel measurement in a measurement space, has no vibration source, stable measurement performance and certain dynamic performance, and can be competent for measurement tasks with certain precision requirements.
Description
Technical Field
The invention belongs to the field of large-size space measurement, relates to realization of a large-size measurement technology, and particularly relates to a large-size space dynamic measurement system and method based on unequal-width dynamic stripe space coding.
Background
The large-size space measurement has wide application requirements in the manufacturing, assembling and detecting processes of large-size equipment, such as butt joint assembly of airplane wallboards, butt joint assembly of rocket barrel sections, adjustment of satellite antennas, positioning of parts of ships, surveying and mapping of large buildings and the like, and all need instrument support with large-size space measurement capability, such as theodolites, total stations, laser trackers, indoor GPS, digital photogrammetry, measurement arms and the like.
The existing large-size measuring equipment in mainstream industry has certain advantages and disadvantages in the aspects of application implementation, economy and the like: the theodolite is mainly used for large-scale scene surveying and mapping, but the measurement is single-point, so that the measurement efficiency is low; the total station is expensive, has large measuring space and high relative measuring precision, is single-point measurement and needs a cooperative prism; the laser theodolite has high measurement precision and high measurement efficiency, but is expensive and sensitive to the use environment; the indoor GPS measurement precision is sub-millimeter, and can support parallel measurement, but the price is expensive; digital photogrammetry is also widely used, but reflective marks and the like need to be arranged, and specific implementation needs to be designed aiming at measurement tasks.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a large-size space dynamic measurement system and method based on non-uniform-width dynamic stripe space coding, which have the advantages of low cost, convenience in implementation, stable work and moderate measurement precision capability, and can meet the measurement task in a certain-size space.
The invention is realized by the following technical scheme:
a large-size measuring method based on unequal-width dynamic stripe space coding comprises the following steps,
step 1, in a measurement space, a plurality of projectors or spatial light generators simultaneously execute the following projection operation;
step 1.1, designing a coding mode for moving unequal-width stripes for each projector or spatial light generator: selecting two nonparallel aspects of the projection image plane of each projector or space light generator as main directions, and uniformly arranging black and white stripes with different widths and parallels along the main directions, wherein the distance between the stripes of each projector or space light generator is required to be fixed and different;
step 1.2, the projector or the spatial light generator moves respective stripes by one pixel unit in turn along the main direction every time of refreshing according to a fixed refreshing frequency, and meanwhile, the stripe mode is ensured to be generated circularly;
step 2, a photoelectric sensor serving as a photoelectric receiver collects the black-and-white space light signals in the step 1 and records the generation time sequence of the black-and-white space light signals, and the photoelectric sensor analyzes the trigger time of the photoelectric sensor in each projector or space light generator based on the coding rule of the projector or space light generator; determining fringe movement phases generated by the corresponding projectors or the space light generators according to the trigger time;
step 3, resolving the moving phase of each stripe to obtain the space coordinate of each photoelectric sensor, and completing the measurement of the target object to be measured;
step 3.1, obtaining an equivalent ray equation of the corresponding photoelectric sensor in an image plane coordinate system of the projector or the space light generator according to the fringe moving phase;
3.2, simultaneously establishing a ray equation of each projector coordinate system based on a forward intersection principle to form a space linear intersection equation set, and finally solving the space coordinate of the photoelectric sensor through least square;
and 3.3, returning to the step 3.1, and executing the steps 3.1 to 3.2 for each photoelectric sensor so as to finish the measurement of the calibration point of the target object to be measured, and after all the calibration points are measured, realizing the measurement of the target object to be measured.
Preferably, the specific steps of step 1.2 are as follows,
step 1.21, each projector or spatial light generator projects an image coded by the following rules according to a fixed refresh frequency under the action of a control system: for each projector or spatial light generator, a series of black and white stripes are gradually changed in width along the direction X, Y, the center distances of the stripes are equal, and the center distances of the stripes of different projectors or spatial light generators are different; setting a uniform refreshing frequency, wherein according to the coding rule, in each frame of image, the X-direction stripes are shifted by one pixel unit along the X-axis direction, and the Y-direction stripes are shifted by one pixel unit along the Y-axis direction;
step 1.22, when the widest projection stripe of each projector or spatial light generator moves to the leftmost initial position again, i.e. the projection code returns to the initial state through a cycle, the current projector or spatial light generator performs the following projection operation: projection all black coding duration TiThen projecting the full white coding duration TiProjecting full black coding duration TiThen projecting the full white coding duration TiAs a signal that the projector returns to the initial position;
and step 1.23, repeatedly executing steps 1.21 and 1.22 to realize stripe mode cycle occurrence.
Further, the specific steps of step 2 are as follows,
step 2.1, a photoelectric sensor positioned in a projection space of a projector or a space light generator converts the projected black and white pattern into a pulse signal with high and low levels, collects and stores the pulse signal, and records a generated time sequence signal;
2.2, identifying the collected high-low pulse time sequence signals by the photoelectric sensor: when two T's are detectediWhen the pulse width is high or low, the moment is considered as the initial reference of the ith station, namely the projector or the spatial light generator returns to the initial position through a cycle period;
and 2.3, identifying the unequal-interval unequal-width stripes: judging the projector or the space light generator corresponding to each pulse in the high-low pulse sequence according to the center distance of the fringe of each projector or the space light generator, and then judging the corresponding fringe code of the pulse of the same projector or the space light generator according to the width of the fringe of the projector or the space light generator to obtain 2n fringes with width numbers and corresponding time intervals;
and 2.4, outputting the obtained 2n time intervals, and then returning to the step 2.1.
Further, in step 2.3, the details of obtaining 2n stripes with width numbers and corresponding time intervals are as follows:
obtaining the stripe number of the ith projector along the X direction and the time interval t of the ith projector relative to the initial referenceixStripe number of i-th projector in Y direction and time interval t thereof with respect to initial referenceiyA total of 2n stripes with width numbers and corresponding time intervals are obtained.
Further, the specific steps of step 3.1 are as follows,
step 3.11, receiving 2n stripes with width numbers and corresponding time intervals sent by each photoelectric sensor;
3.12, eliminating error codes of the 2n data of each photoelectric sensor, and only keeping correct codes;
step 3.13, calculating discrete pixel coordinates corresponding to 2n data of each photoelectric sensor according to the pixel width and the refreshing frequency of the projector or the space light generator;
and 3.14, converting the pixel coordinates into a ray equation in a projector coordinate system.
Further, in step 3.14, the photoelectric sensor end acquires and decodes the signal to obtain the coordinate (X) of the photoelectric sensor end on the ith projector or spatial light generator image planei,Yi) From this, the ray equation in the projector or spatial light generator coordinate system can be derived:
where f is the focal length.
Further, step 3.2, for the photoelectric sensor, the photoelectric sensor is located at the intersection point of the rays corresponding to the n projectors or spatial light generators, and after all ray equations are transformed by the pose transformation matrix (Ri, Ti) of the projectors or spatial light generators relative to the global coordinate system, the following equation set can be obtained:
and solving the space coordinates of the photoelectric sensors through least squares, thereby obtaining the space coordinates of all the photoelectric sensors and realizing the measurement of the space pose.
A large-size measurement system based on unequal-width dynamic stripe space coding comprises,
at least 2 projectors are fixedly arranged around or in a measurement scene; the visual space of each projector or spatial light generator can cover the target object to be measured; the space covered by a plurality of projectors or spatial light generators is an effective measurement space;
the photoelectric sensor is arranged on a target object to be detected; the system is used for calibrating the space coordinate on the target object to be measured;
the system operation control system is used for controlling all projectors or spatial light generators to complete the projection of the non-equal-width linear stripes; the system operation control system is used for executing the control of the step 1 of any one method;
a coordinate calculation algorithm carrier for receiving the photoelectric sensor signal and calculating the coordinate; the coordinate calculation algorithm carrier is used for executing the calculation of the step 3 of any one of the methods.
Furthermore, the photoelectric sensor comprises a photoelectric sensing element capable of sensing brightness, a pulse signal acquisition system, a decoder operating a non-equal-width fringe signal identification algorithm and a wired/wireless communication system which are connected in sequence; the photoelectric sensing component receives the stripes with width numbers and corresponding time intervals, and the wired/wireless communication system is used for interacting with the coordinate calculation carrier.
Still further, the coordinate calculation carrier adopts a server or a handheld computing device.
Compared with the prior art, the invention has the following beneficial technical effects:
the method of the invention encodes the space through the unequal-width moving stripes and realizes the dynamic measurement of the large-size space based on the projection light information of the projector or the space light generator; the method comprises the steps of performing non-equal-width linear stripe circular rolling projection on a measurement space through a plurality of projectors (space light generators), ensuring that a photoelectric sensor receives a time sequence projection code and can accurately decode the time sequence projection code, obtaining equivalent ray equations of the photoelectric sensor in each projector image coordinate system, further combining the ray equations of each projector coordinate system based on the forward intersection principle to form a space linear intersection equation set, and finally solving the space coordinates of the photoelectric sensor through least square.
The system only comprises a plurality of projectors, a control system of the projectors, a photoelectric sensor and a coordinate algorithm carrier, is low in cost, simple and easy to implement in the working process of the system, can realize parallel measurement in a measurement space, has no vibration source and the like in the measurement system, is stable in measurement performance, has certain dynamic performance, and can be competent for measurement tasks under certain precision requirements.
Drawings
FIG. 1 is an architectural diagram of the system in an example of the invention.
Fig. 2 is a schematic diagram of the operation of the system in an example of the invention.
FIG. 3 is an example of non-uniform width dynamic stripes in the X and Y directions as described in the examples of the present invention.
Detailed Description
The present invention will now be described in further detail with reference to specific examples, which are intended to be illustrative, but not limiting, of the invention.
The invention relates to a large-size measuring system and a method based on unequal-width dynamic stripe space coding, which designs a coding mode for moving unequal-width stripes for each projector (space light generator): selecting two nonparallel aspects of a projection image plane of each projector (space light generator) as main directions, uniformly arranging black and white stripes with different widths and parallel in the main directions, and requiring that the distance between the stripes of each projector (space light generator) is fixed and different; the projector (spatial light generator) moves the respective stripes one pixel unit in turn per refresh in the main direction at a fixed refresh frequency while ensuring that the stripe pattern is cycled. In the measurement space, a plurality of projectors (spatial light generators) simultaneously perform the projection operation. The photoelectric sensor serving as the photoelectric receiver collects the black-and-white space optical signals and records the occurrence time sequence of the black-and-white space optical signals, the trigger time of the photoelectric sensor in each projector (space light generator) is analyzed based on the coding rule of the projector (space light generator), the fringe moving phase generated by the corresponding projector (space light generator) is determined, the equivalent ray equation of the photoelectric sensor in the image plane coordinate system of the projector (space light generator) can be known, then the ray equations of each projector coordinate system are combined based on the forward intersection principle to form a space straight line intersection equation set, and finally the space coordinate of the photoelectric sensor is solved through least square.
Specifically, the implementing architecture and the measuring principle of the large-size space dynamic measuring system and the method based on the space unequal width dynamic stripe space coding of the invention are respectively shown in fig. 1 and fig. 2, and the implementation of the configuration and the operation flow of the system and the measuring principle comprises the following steps:
1, system configuration:
as shown in fig. 1, the whole measuring system is composed of a plurality of projectors (space light generators), photoelectric sensors, a system operation control system and a coordinate calculation algorithm carrier 4.
a) A projector: at the periphery of a measurement scene or in the measurement scene, at least 2 projectors are fixedly installed, and the visual space of each projector can cover a target object to be measured. The space covered by a plurality of projectors simultaneously is an effective measurement space, which is determined by the forward intersection measurement principle.
b) A photoelectric sensor: the photoelectric sensor comprises (i) a (photoelectric) sensing component capable of sensing light and shade, (ii) a pulse signal acquisition system, (iii) a decoder running a non-uniform-width fringe signal identification algorithm, and (iv) a wired/wireless communication system. The photoelectric sensor end is composed of a proper hardware circuit and an embedded system.
c) The system operation control system comprises: the system operation control system controls the projection work of all the projectors of the unequal-width linear stripes, and specifically comprises (i) specific unequal-width stripe codes of each projector in the X direction and the Y direction, (ii) rolling projection control of all the projectors of the unequal-width stripe codes, and (iii) synchronous pulse projection control of all the projectors.
d) Coordinate calculation algorithm carrier: the coordinate calculation is implemented on a terminal server or a handheld computing device, and comprises (i) a photoelectric sensor signal receiving module and (ii) a photoelectric sensor coordinate least squares calculation module based on a front intersection.
2, system operation flow:
after a projector, a control system, a photoelectric sensor and a coordinate calculation algorithm carrier of the measuring system are started, the system completes initialization. The operation of the whole system is simultaneously operated by two relatively independent parts of the projector and a control system thereof, the photoelectric sensor and the coordinate calculation.
2.1 the projector and the control system thereof circularly execute the following processes:
step 1, starting up a projector, a control system, a photoelectric sensor and a computing terminal of the system, initializing, and then starting the following cyclic working process:
and 2, each projector projects an image coded by the following rules according to a fixed refreshing frequency under the action of the control system: for each projector, the width of black and white stripes is gradually changed along the direction X, Y, the center distances of the stripes are equal, and the center distances of the stripes of different projectors are different. Along with the set unified refreshing frequency, according to the coding rule, in each frame of image, the X-direction stripes are shifted by one pixel unit along the X-axis direction, and the Y-direction stripes are shifted by one pixel unit along the Y-axis direction;
and 3, when the widest projection stripe of each projector moves to the leftmost initial position again, namely the projection code returns to the initial state after a cycle, the current projector performs the following projection operation: projection all black coding duration TiThen projecting the full white coding duration TiProjecting full black coding duration TiThen projecting the full white coding duration TiAs a signal that the projector returns to the initial position;
and 4, repeatedly executing the steps 2 and 3.
2.2 the photoelectric sensor circularly executes the following process:
step 1, a photoelectric sensor positioned in a projection space of a projector converts a projected black-white pattern into high and low levels, and collects and stores the high and low levels;
step 2, identifying the collected high-low pulse time sequence signals by the photoelectric sensor: when two T's are detectediWhen the width is high or low, the moment is considered as the initial reference of the ith station, namely the projector returns to the initial position through a cycle period;
step 3, identifying the unequal-interval unequal-width stripes: and judging the projector corresponding to each pulse in the high-low pulse sequence according to the center distance of each projector stripe, and then judging the corresponding stripe code of the pulse of the same projector according to the width of the projector stripe. Thereby, the stripe number of the i-th projector in the X direction and the time interval t thereof with respect to the initial reference can be obtainedixStripe number of i-th projector along Y direction and relative initialTime interval t of referenceiyObtaining 2n stripes with width numbers and corresponding time intervals;
step 4, sending the 2n time intervals to a computing module of the server, and then returning to the step 1;
2.3 the calculation module performs the following operations in a loop:
step 1, receiving 2n stripes with width numbers and corresponding time intervals sent by each photoelectric sensor;
step 2, eliminating error codes of 2n data of each photoelectric sensor, and only keeping correct codes;
step 3, calculating discrete pixel coordinates corresponding to 2n data of each photoelectric sensor according to the pixel width and the refreshing frequency of the projector;
step 4, converting the pixel coordinates into a ray equation in a projector coordinate system;
and 5, combining the ray equations of the projection instrument corresponding to the effective data, and solving an equation set through least square to obtain the space coordinate of the photoelectric sensor.
And 6, returning to the step 1, and circulating the steps for each photoelectric sensor.
3, system measurement principle:
in order to more clearly show the working principle of the measuring system, the measuring model, the use performance, the application limit and the like of the system are described.
(1) Here, each projector can be regarded as a camera, i.e., having an image space coordinate system O-XYZ, and all projectors have an image space coordinate system with a pose matrix of R, T in a measurement space coordinate system, i.e., a global coordinate system.
(2) The number, width and stripe interval of the non-equal width linear stripes of each projector are designed according to the resolution of the projector, and generally, the higher the resolution is, the more the number of stripes is.
(3) The projector simultaneously projects the set unequal-width stripes according to cycle, so that the photoelectric sensor can stably collect and judge the width of the stripes and the time interval of the stripes relative to the initial position.
(4) Each projector carries out coding of unequal-width stripes along the X direction and the Y direction respectively, at a certain moment, the stripes along the two directions are intersected at a point, namely, projected pixel points are uniquely determined, and the uniqueness of the coordinate of the photoelectric sensor is ensured.
(5) The photoelectric sensor end acquires and decodes the signal to obtain the coordinate (X) of the photoelectric sensor end on the ith projector image planei,Yi) From this, the ray equation in the projector coordinate system can be derived:
where f is the focal length. For the photoelectric sensor, the photoelectric sensor is positioned at the intersection point of the rays corresponding to the n projectors, and after all ray equations are transformed by the pose transformation matrix (Ri, Ti) of the projectors relative to the global coordinate system, the following equation set can be obtained:
therefore, the space coordinate of the photoelectric sensor can be solved through least square, and the measurement of the space pose is achieved.
The invention relates to a large-size space measuring system based on unequal-width dynamic stripe space coding, which projects unequal-width dynamic stripes in a measuring space through a plurality of projectors (space light generators), and a photoelectric sensor receives and decodes a projection code to obtain equivalent rays of the photoelectric sensor in each projector (space light generator) coordinate system, thereby completing the coordinate calculation of the photoelectric sensor based on the forward intersection principle. A plurality of projectors (space light generators) are arranged in a measurement space, simple coding projection control is carried out on the projectors, and the space coordinates are measured based on the forward intersection principle by utilizing a photoelectric sensor to receive and identify projection signals. The measuring system has simple working principle, stable algorithm execution and dynamic measuring performance; the system hardware architecture is simple, the control system is simple, and the cost is low; because the device does not relate to a movement mechanism, the error source is less, and the relatively stable measurement precision is easy to maintain; the method has important significance for the manufacturing of large equipment and the perception and information acquisition of intelligent manufacturing scenes.
Claims (8)
1. A large-size measuring method based on unequal-width dynamic stripe space coding is characterized by comprising the following steps,
step 1, in a measurement space, a plurality of spatial light generators simultaneously execute the following projection operation;
step 1.1, designing a coding mode for moving unequal-width stripes for each spatial light generator: selecting two nonparallel aspects of the projection image plane of each space light generator as main directions, and uniformly arranging black and white stripes with different widths and parallel along the main directions, wherein the distance between the stripes of each space light generator is required to be fixed and different;
step 1.2, the spatial light generator moves respective stripes by one pixel unit in turn along the main direction for each refreshing according to a fixed refreshing frequency, and meanwhile, the stripe mode is ensured to be generated circularly;
step 2, a photoelectric sensor serving as a photoelectric receiver collects the black-and-white space light signals in the step 1 and records the generation time sequence of the signals, and the photoelectric sensor analyzes the trigger time of the photoelectric sensor in each space light generator based on the coding rule of the space light generator; determining fringe movement phases generated by the corresponding space light generators according to the trigger time;
step 3, resolving the moving phase of each stripe to obtain the space coordinate of each photoelectric sensor, and completing the measurement of the target object to be measured;
step 3.1, obtaining an equivalent ray equation of the corresponding photoelectric sensor in the space light generator image plane coordinate system according to the fringe moving phase;
3.2, simultaneously establishing a ray equation of each projector coordinate system based on a forward intersection principle to form a space linear intersection equation set, and finally solving the space coordinate of the photoelectric sensor through least square;
step 3.3, returning to step 3.1, and executing steps 3.1 to 3.2 for each photoelectric sensor so as to finish the measurement of the calibration point of the target object to be measured, and after all the calibration points are measured, realizing the measurement of the target object to be measured;
the specific steps of step 1.2 are as follows,
step 1.21, each spatial light generator projects an image coded by the following rules according to a fixed refreshing frequency under the action of a control system: for each space light generator, a series of black and white stripe width gradual changes are formed along the direction X, Y, the central distances of the stripes are equal, and the central distances of the stripes of different space light generators are different; setting a uniform refreshing frequency, wherein according to the coding rule, in each frame of image, the X-direction stripes are shifted by one pixel unit along the X-axis direction, and the Y-direction stripes are shifted by one pixel unit along the Y-axis direction;
step 1.22, when the widest projection stripe of each spatial light generator moves to the leftmost initial position again, i.e. the projection code returns to the initial state through a cycle, the current spatial light generator performs the following projection operation: projection all black coding duration TiThen projecting the full white coding duration TiProjecting full black coding duration TiThen projecting the full white coding duration TiAs a signal that the projector returns to the initial position;
step 1.23, repeating steps 1.21 and 1.22 to realize stripe mode cycle generation;
the specific steps of step 2 are as follows,
2.1, converting the projected black and white pattern into a high-low level pulse signal by a photoelectric sensor positioned in the projection space of the spatial light generator, collecting and storing the pulse signal, and recording a generated time sequence signal;
2.2, identifying the collected high-low pulse time sequence signals by the photoelectric sensor: when two T's are detectediRegarding the pulse with the width as the initial reference of the ith station, namely, the spatial light generator returns to the initial position through a cycle period;
and 2.3, identifying the unequal-interval unequal-width stripes: judging a spatial light generator corresponding to each pulse in the high-low pulse sequence according to the center distance of the stripes of each spatial light generator, and then judging the corresponding stripe codes of the pulses of the same spatial light generator according to the width of the stripes of the spatial light generator to obtain 2n stripes with width numbers and corresponding time intervals;
and 2.4, outputting the obtained 2n time intervals, and then returning to the step 2.1.
2. A large-size measurement method based on unequal-width dynamic stripe space coding according to claim 1, wherein in step 2.3, 2n stripes with width numbers and corresponding time intervals are obtained as follows:
obtaining the stripe number of the ith projector along the X direction and the time interval t of the ith projector relative to the initial referenceixStripe number of i-th projector in Y direction and time interval t thereof with respect to initial referenceiyA total of 2n stripes with width numbers and corresponding time intervals are obtained.
3. A large-size measurement method based on unequal-width dynamic stripe space coding according to claim 1, characterized in that the specific steps of step 3.1 are as follows,
step 3.11, receiving 2n stripes with width numbers and corresponding time intervals sent by each photoelectric sensor;
3.12, eliminating error codes of the 2n data of each photoelectric sensor, and only keeping correct codes;
step 3.13, calculating discrete pixel coordinates corresponding to 2n data of each photoelectric sensor according to the pixel width and the refreshing frequency of the space light generator;
and 3.14, converting the pixel coordinates into a ray equation in a projector coordinate system.
4. A large-size measurement method based on unequal-width dynamic fringe space coding as claimed in claim 3, wherein in step 3.14, the photo-sensor end obtains its coordinates (X) in the ith spatial light generator image plane through signal acquisition and decodingi,Yi) Thereby obtaining the spatial light generatorRay equation in coordinate system:
where f is the focal length.
5. A large-size measurement method based on unequal-width dynamic stripe space coding according to claim 4, characterized in that, in step 3.2, for the photoelectric sensor, it is located at the intersection point of the rays corresponding to the n spatial light generators, and after all ray equations are transformed by the pose transformation matrix (Ri, Ti) of the spatial light generator with respect to the global coordinate system, the following equation set can be obtained:
and solving the space coordinates of the photoelectric sensors through least squares, thereby obtaining the space coordinates of all the photoelectric sensors and realizing the measurement of the space pose.
6. A large-size measurement system based on unequal-width dynamic stripe space coding is characterized by comprising,
at least 2 projectors are fixedly arranged around or in a measurement scene; the visual space of each space light generator can cover a target object to be measured; the space covered by the plurality of spatial light generators is an effective measurement space;
the photoelectric sensor is arranged on a target object to be detected; the system is used for calibrating the space coordinate on the target object to be measured;
the system operation control system is used for controlling all the space light generators to complete the projection of the linear stripes with unequal widths; the system operation control system is used for executing the control of the step 1 of the method of any one of claims 1-5;
a coordinate calculation algorithm carrier for receiving the photoelectric sensor signal and calculating the coordinate; the coordinate calculation algorithm carrier is used for executing the calculation of step 3 of the method of any one of claims 1 to 5.
7. A large-size measuring system based on unequal-width dynamic stripe space coding according to claim 6, characterized in that the photoelectric sensor comprises a photoelectric sensing element capable of sensing brightness, a pulse signal acquisition system, a decoder for operating an unequal-width stripe signal identification algorithm and a wired/wireless communication system which are connected in sequence; the photoelectric sensing component receives the stripes with width numbers and corresponding time intervals, and the wired/wireless communication system is used for interacting with the coordinate calculation carrier.
8. A large-size measurement system based on unequal-width dynamic stripe space coding according to claim 6, characterized in that the coordinate calculation carrier adopts a server or a handheld computing device.
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